Robbie has been a long term project (7 years) mechanically Robbie is complete there will still be upgrades and improvements but overall I'm happy with the design the shoulder gearboxes will be replaced soon with a version that has bearings and magnetic encoders stronger motor drivers but they are still the same size. Over all the printed structure is strong enough and has the rigidity to do the job required.
Right now Robbie is able to navigate around the house the kinect sensor works well but not with dark objects. Some form of continuous mapping is required in a typical home where furniture keeps moving. The internal health monitoring will navigate to the charger and auto dock when the batter voltage is low. We did a reliability trial a while back which highlighted numerous flaws ranging from overheating CPU, low voltage resets of the micro controllers, noisy power connections. Robbie's arm is controlled with ROS MoveIT but the potentiometers in the shoulder gearbox and the printed nature cause a problem with accuracy
You can read more about Robbie at my blog http://escaliente-robotics.blogspot.com.au/
Now it's time for Robbie to do some thing useful Robbie is voice controlled the AI system will send a request to the behaviour tree engine to carry out the task at the moment is is limited to simple tasks like go to the kitchen move left, right etc.
I have a bench mark project call “Get me a beer” I have a basic version running is simulation but running it on the real robot is not nice I need to have more control since Robbie already has a simple behaviour control program(Pi_trees https://github.com/pirobot/pi_trees) I will expand on that, like when navigating to the fridge he will read a QR code and update he exact location and move to the position the run the kinematic solution to open the fridge door(Knowrob). Request a scan of the fridge to locate the beer call movit to get the beer and return with it and of course be able to handle failure at any stage
Removed Robbie's I3 computer and replaced it with a Raspberry Pi 3 with camera the advantages are longer battery life, 6 hours now compared to 20 minutes before. The Ai has been moved to a desktop computer. At the moment we have basic functions on Robbie working ie Navigation, mapping, voice and the behaviour tree. The arms are on hold waiting for parts. Face recognition has been changed to openface and works better than any i have used before. I just need to incorporate it into ROS